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fix(gnss_poser): cherry pick #1263

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Apr 18, 2024
Merged

fix(gnss_poser): cherry pick #1263

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41246cd
feat(gnss_poser): use header.frame_id as gnss_frame (#6116)
KYabuuchi Jan 22, 2024
5d38b9a
fix(gnss_poser): fix tf transform (#6404)
YamatoAndo Feb 20, 2024
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5 changes: 5 additions & 0 deletions sensing/gnss_poser/README.md
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Expand Up @@ -4,6 +4,11 @@

The `gnss_poser` is a node that subscribes gnss sensing messages and calculates vehicle pose with covariance.

This node subscribes to NavSatFix to publish the pose of **base_link**. The data in NavSatFix represents the antenna's position. Therefore, it performs a coordinate transformation using the tf from `base_link` to the antenna's position. The frame_id of the antenna's position refers to NavSatFix's `header.frame_id`.
(**Note that `header.frame_id` in NavSatFix indicates the antenna's frame_id, not the Earth or reference ellipsoid.** [See also NavSatFix definition.](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/NavSatFix.html))

If the transformation from `base_link` to the antenna cannot be obtained, it outputs the pose of the antenna position without performing coordinate transformation.

## Inner-workings / Algorithms

## Inputs / Outputs
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1 change: 0 additions & 1 deletion sensing/gnss_poser/config/gnss_poser.param.yaml
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Expand Up @@ -2,7 +2,6 @@
ros__parameters:
base_frame: base_link
gnss_base_frame: gnss_base_link
gnss_frame: gnss
map_frame: map
buff_epoch: 1
use_gnss_ins_orientation: true
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7 changes: 3 additions & 4 deletions sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp
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Expand Up @@ -89,10 +89,9 @@ class GNSSPoser : public rclcpp::Node
rclcpp::Publisher<tier4_debug_msgs::msg::BoolStamped>::SharedPtr fixed_pub_;

MapProjectorInfo::Message projector_info_;
std::string base_frame_;
std::string gnss_frame_;
std::string gnss_base_frame_;
std::string map_frame_;
const std::string base_frame_;
const std::string gnss_base_frame_;
const std::string map_frame_;
bool received_map_projector_info_ = false;
bool use_gnss_ins_orientation_;

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5 changes: 0 additions & 5 deletions sensing/gnss_poser/schema/gnss_poser.schema.json
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Expand Up @@ -11,11 +11,6 @@
"default": "base_link",
"description": "frame id for base_frame"
},
"gnss_frame": {
"type": "string",
"default": "gnss",
"description": "frame id for gnss_frame"
},
"gnss_base_frame": {
"type": "string",
"default": "gnss_base_link",
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4 changes: 2 additions & 2 deletions sensing/gnss_poser/src/gnss_poser_core.cpp
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Expand Up @@ -31,7 +31,6 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options)
tf2_listener_(tf2_buffer_),
tf2_broadcaster_(*this),
base_frame_(declare_parameter<std::string>("base_frame")),
gnss_frame_(declare_parameter<std::string>("gnss_frame")),
gnss_base_frame_(declare_parameter<std::string>("gnss_base_frame")),
map_frame_(declare_parameter<std::string>("map_frame")),
use_gnss_ins_orientation_(declare_parameter<bool>("use_gnss_ins_orientation")),
Expand Down Expand Up @@ -142,8 +141,9 @@ void GNSSPoser::callbackNavSatFix(
// get TF from gnss_antenna to base_link
auto tf_gnss_antenna2base_link_msg_ptr = std::make_shared<geometry_msgs::msg::TransformStamped>();

const std::string gnss_frame = nav_sat_fix_msg_ptr->header.frame_id;
getStaticTransform(
base_frame_, gnss_frame_, tf_gnss_antenna2base_link_msg_ptr, nav_sat_fix_msg_ptr->header.stamp);
gnss_frame, base_frame_, tf_gnss_antenna2base_link_msg_ptr, nav_sat_fix_msg_ptr->header.stamp);
tf2::Transform tf_gnss_antenna2base_link{};
tf2::fromMsg(tf_gnss_antenna2base_link_msg_ptr->transform, tf_gnss_antenna2base_link);

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